CN102523462A - Method and device for rapidly acquiring elemental image array based on camera array - Google Patents

Method and device for rapidly acquiring elemental image array based on camera array Download PDF

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CN102523462A
CN102523462A CN201110400206XA CN201110400206A CN102523462A CN 102523462 A CN102523462 A CN 102523462A CN 201110400206X A CN201110400206X A CN 201110400206XA CN 201110400206 A CN201110400206 A CN 201110400206A CN 102523462 A CN102523462 A CN 102523462A
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element image
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CN102523462B (en
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焦小雪
赵星
杨勇
方志良
袁小聪
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Nankai University
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Abstract

The invention discloses a method and a device for rapidly acquiring an elemental image based on a camera array, mainly aiming to solve the problem on acquiring an elemental image array and provide a simple and convenient elemental image array acquisition means for acquisition and application of the three-dimensional information of various scenes and naked-eye three-dimensional display. At present, a lens array or a camera array are generally adopted for acquiring the elemental image array in an integrated imaging optical acquisition process. For the traditional optical acquisition means, the elemental image array which is constituted by a large number of elemental images and is matched with the number of a lens array needs to be acquired, the defects of low acquisition speed, complex equipment and high manufacture cost are existent, and the traditional optical acquisition means cannot be popularized and applied in large scale. The device disclosed by the invention comprises a 2*2 camera array of rectangular arrangement and an electronic computer. According to the invention, by starting from the relevance among elemental images in an elemental image array acquired through integrated imaging, the elemental image array is acquired rapidly by using the camera array constituted by four cameras, and thus, the complexity and the cost of the device are reduced.

Description

Element image array fast acquiring method and device based on camera array
Technical field
The invention belongs to three-dimensional imaging and Display Technique field, mainly proposed a kind of element image fast acquiring method and device based on camera array.What mainly solve is the problem of obtaining of element image array, obtain and use for realizing various scene three-dimensional informations, and the bore hole three-dimensional display provides a kind of obtaining means of easy element image array.
Background technology
The bore hole dimension display technologies is having very important effect aspect the true demonstration of reduction.The integration imaging dimension display technologies has continuous viewpoint as a kind of bore hole dimension display technologies, and no vision is tired, need not the advantage of additional device.Bore hole dimension display technologies based on integration imaging needs the element image array could show the bore hole three-dimensional information.Obtaining generally of element image array can be obtained through calculating integration imaging, also can be obtained by optical instrument.General employing was that lens arra obtains or camera array is obtained during optics obtained.Traditional optical element image array obtaining means need obtain a large amount of element images and form pattern matrix, makes the traditional optical obtaining means exist acquisition speed slow like this, complex equipments, and the shortcoming that involves great expense can't be applied on a large scale.
Summary of the invention
The objective of the invention is to solve the problem of obtaining of element image array in the bore hole dimension display technologies, a kind of element image fast acquiring method and device based on camera array is provided.
The present invention is the correlation between element image from the element image array that integration imaging obtains, and the camera array of utilizing 4 cameras to form has realized obtaining fast of element image array.This method is obtained 4 element images through the camera of four rectangular arranged, through calculating the element image array that can supply usefulness, thereby has realized obtaining fast of element image array, and it is simple, cheap to have a system construction, the advantage that acquisition speed is fast.
Element image fast acquiring method based on camera array provided by the invention is: the correlation in the element image array that obtains according to the integration imaging principle between element image; Utilize the rectangle camera array to obtain four width of cloth element images, through analyzing the information of corresponding corresponding image points in four width of cloth element images, calculate the element image array that to supply usefulness.The concrete steps of this method are:
The first, utilize the camera array of rectangular arranged to obtain the information of three-dimensional body:
Camera array is by four camera C that are positioned at same vertical plane 1, C 2, C 3, C 4Form, arrangement mode is a rectangular arranged, level interval L x, vertical spacing L y, as shown in Figure 1, the angle of visual field (θ of camera array 1=θ 2=θ 3=θ 4) and camera spacing (L x, L y) and three-dimensional body need satisfy following condition to the spacing L on plane, camera array place: the information that gets access to three-dimensional body that each camera can both be complete in the camera array; Be that object should be placed in the camera array 4 cameras separately in the overlapping scope in visual field; As shown in Figure 2, four cameras can obtain 4 element image I altogether 1, I 2, I 3, I 4, wherein the pixel count of each element image is: I x* I yUtilize image recognition technology to analyze the information that camera array writes down the corresponding image points of the element image that obtains then.Get 1 Q in the corresponding image points, can be at 4 element image I 1, I 2, I 3, I 4In obtain the coordinate of 4 corresponding image points that Q orders, use Q respectively 1 (x, y), Q 2 (x, y), Q 3 (x, y), Q 4 (x, y)Represent.The information of all corresponding image points in 4 element images of point-to-point analysis can obtain the set of corresponding image points: ∑ Q,
Q k ( x , y ) = x Q k = x I k - I x / 2 y Q k = y I k - I y / 2
(x wherein Ik, y Ik) refer to the position of Q point on the element image that directly obtains from camera array, (x Qk, y Qk) be to be the relative coordinate under the coordinate system of initial point with the element image center that gets access to, k ∈ (1,4), I x, I yBe respectively the lateral resolution and the longitudinal frame of the element image that gets access to of camera array.
Second: the relevant parameter that obtains integration imaging element image array:
The element image array is as shown in Figure 3, wherein need confirm following parameter:
The number of element image array: M * N, by the lens arra parameter determining that the integration imaging playback system is adopted, wherein M is the number of X direction element image array, N is the number of y direction element image array.
The resolution of element image: P in the element image array x* P y, the parameter determining of the display device that is adopted by the integration imaging playback system.P xIt is the lateral resolution of element image.P yIt is the longitudinal frame of element image.
Three, utilize 4 element image I 1, I 2, I 3, I 4Calculate element image arrays all in the element image array:
From the first step, can obtain the set of all corresponding corresponding image points of 4 images: ∑ Q.Getting wherein, 1 Q can obtain coordinate corresponding on 4 element images: Q 1 (x, y), Q 2 (x, y), Q 3 (x, y), Q 4 (x, y)The parameter of element image array to be generated: M * N element image and each element image are P x* P ySize.Then can obtain the position of Q point at the corresponding image points of M * N element image.Wherein (i, j) the information Q of the corresponding image points of individual element image (i, j)Can calculate by following formula:
Q ( i , j ) = x Q ( i , j ) = x Q 1 + ( i - 1 ) × ( x Q 3 - x Q 1 ) + ( x Q 4 - x Q 2 ) 2 × ( M - 1 ) y Q ( i , j ) = y Q 1 + ( j - 1 ) × ( y Q 2 - y Q 1 ) + ( y Q 4 - y Q 3 ) 2 × ( N - 1 )
(x wherein Q (i, j), y Q (i, j)), (x Q1, y Q1), (x Q2, y Q2), (x Q3, y Q3) and (x Q4, y Q4) be respectively the element image I that gets access to by camera array in the first step 1, I 2, I 3, I 4In the corresponding coordinate of corresponding image points Q, wherein i ∈ (1, M), j ∈ (1, N).
Whole corresponding image points intersection ∑ Q is carried out the pointwise computing can obtain I (i, j)The information of the corresponding image points of individual element image.And then the Q that calculates (i, j)Differentiate, differentiate it and whether drop on I (i, j)In the visual field of individual element image.Discrimination formula is as follows:
{ Q ( i , j ) &Element; I ( i , j ) , Round ( | x Q ( i , j ) | ) < P x 2 Round ( | y Q ( i , j ) | ) < P y 2
Wherein Round (x) expression is to round.After differentiating, can obtain I (i, j)Element image.Rebuild element image I one by one (i, j)Can obtain to supply the element image array of usefulness.
The present invention provides a kind of deriving means of camera element image array simultaneously, and this device comprises:
Camera array: its purposes is to obtain the element image of three-dimensional body, and arrangement mode is 2 * 2 camera array of rectangular arranged, level interval L x, vertical spacing L y, the angle of visual field (θ of camera array 1=θ 2=θ 3=θ 4) and camera spacing (L x, L y) and three-dimensional body need satisfy following condition to the spacing L on plane, camera array place: the information that gets access to three-dimensional body that each camera can both be complete in the camera array, promptly object should be placed in the camera array 4 cameras separately in the overlapping scope in visual field;
Electronic computer: the element image that is used for acquiring according to camera array calculates the generting element pattern matrix.
Advantage of the present invention and good effect:
The present invention is the correlation of element image from the element image array that integration imaging obtains, and analyses in depth to have obtained in the element image array location association characteristic of corresponding image points in each element image.And a kind of element image array fast acquiring method and device based on camera array proposed according to this characteristic.This method can be fast and convenient obtain the element image array that can supply usefulness.Compare and traditional camera array obtaining means, this method required M * N camera array originally has been simplified to 4 rectangular arrays that camera is formed, and has significantly reduced the complexity and the cost of deriving means.
The present invention has simple in structure, advantage with low cost.
The obtaining means of the element image array among the present invention is applicable to the scene 3 D information obtaining method and the system of array-type optical instruments such as lens arra/pinhole array, and the integration imaging bore hole three-dimensional display system of forming thus.
Description of drawings
The arrangement sketch map of Fig. 1 camera array;
Concern sketch map between Fig. 2 camera array and captured object;
Fig. 3 element image array sketch map;
Fig. 4 is the element image that camera array collects among the embodiment 1;
Fig. 5 calculates the element image array among the embodiment 1;
Fig. 6 is the element image that camera array collects among the embodiment 2;
Fig. 7 calculates the element image array among the embodiment 2;
Among the figure, the element image array of the element image that 1-camera, 2-three-dimensional body, 3-camera array collect, M * N that 4-calculates.
Embodiment
Element image fast acquiring method based on camera array provided by the invention is: the correlation in the element image array that obtains according to integration imaging between element image; Utilize the rectangle camera array to obtain four width of cloth element images, through analyzing the information of corresponding corresponding image points in four width of cloth element images, calculate the element image array that to supply usefulness.The concrete steps of this method are:
The first, utilize the camera array of rectangular arranged to obtain the information of three-dimensional body:
Camera array is by four camera C that are positioned at same vertical plane 1, C 2, C 3, C 4Form, arrangement mode is a rectangular arranged, level interval L x, vertical spacing L y, as shown in Figure 1, the angle of visual field (θ of camera array 1=θ 2=θ 3=θ 4) and camera spacing (L x, L y) and three-dimensional body need satisfy following condition to the spacing L on plane, camera array place: the information that gets access to three-dimensional body that each camera can both be complete in the camera array; Be that object should be placed in the camera array 4 cameras separately in the overlapping scope in visual field; As shown in Figure 2, four cameras can obtain 4 element image I altogether 1, I 2, I 3, I 4, wherein the pixel count of each element image is: I x* I y, utilize image recognition technology to analyze the information that camera array writes down the corresponding image points of the element image that obtains then.Get 1 Q in the corresponding image points, can be at 4 element image I 1, I 2, I 3, I 4In obtain the coordinate of 4 corresponding image points that Q orders.Use Q respectively 1 (x, y), Q 2 (x, y), Q 3 (x, y), Q 4 (x, y)Represent that the information of all corresponding image points can obtain the set of corresponding image points: ∑ Q in 4 element images of point-to-point analysis.
Q k ( x , y ) = x Q k = x I k - I x / 2 y Q k = y I k - I y / 2
(x wherein Ik, y Ik) refer to the position of Q point on the element image that directly obtains from camera array, (x Qk, y Qk) be to be the relative coordinate under the coordinate system of initial point with the element image center that gets access to, k ∈ (1,4), I x, I yBe the resolution of the element image that gets access to of camera array.
Second: according to showing used lens arra or pinhole array, obtain the relevant parameter of the required element image array of integration imaging bore hole three-dimensional display,
The element image array is as shown in Figure 3, wherein need confirm following parameter:
The number of element image array: M * N, by the lens arra parameter determining that the integration imaging playback system is adopted, wherein M is the number of X direction element image array, N is the number of y direction element image array.
The resolution of element image: P in the element image array x* P y, the parameter determining of the display device that is adopted by the integration imaging playback system.P xIt is the lateral resolution of element image.P yIt is the longitudinal frame of element image.
Three, utilize 4 element images to calculate element image arrays all in the element image array:
From the first step, can obtain the set of all corresponding corresponding image points of 4 images: ∑ Q.Getting wherein, 1 Q can obtain coordinate corresponding on 4 element images: Q 1 (x, y), Q 2 (x, y), Q 3 (x, y), Q 4 (x, y)The parameter of element image array to be generated: M * N element image and each element image are P x* P ySize.Then can obtain the position of Q point at the corresponding image points of M * N element image.Wherein (i, j) the information Q of the corresponding image points of individual element image (i, j)Can calculate by following formula:
Q ( i , j ) = x Q ( i , j ) = x Q 1 + ( i - 1 ) &times; ( x Q 3 - x Q 1 ) + ( x Q 4 - x Q 2 ) 2 &times; ( M - 1 ) y Q ( i , j ) = y Q 1 + ( j - 1 ) &times; ( y Q 2 - y Q 1 ) + ( y Q 4 - y Q 3 ) 2 &times; ( N - 1 )
(x wherein Q (i, j), y Q (i, j)), (x Q1, y Q1), (x Q2, y Q2), (x Q3, y Q3) and (x Q4, y Q4) be respectively the element image I that gets access to by camera array in the first step 1, I 2, I 3, I 4In the corresponding coordinate of corresponding image points Q, wherein i ∈ (1, M), j ∈ (1, N).
Whole corresponding image points intersection ∑ Q is carried out the pointwise computing can obtain I (i, j)The information of the corresponding image points of individual element image.And then the Q that calculates (i, j)Differentiate, differentiate it and whether drop on I (i, j)In the visual field of individual element image.Discrimination formula is as follows:
{ Q ( i , j ) &Element; I ( i , j ) , Round ( | x Q ( i , j ) | ) < P x 2 Round ( | y Q ( i , j ) | ) < P y 2
Wherein Round (x) expression is to round.After differentiating, can obtain I (i, j)Element image.
Rebuild element image I one by one (i, j)Can obtain to supply integration imaging to realize the element image array of bore hole three-dimensional display.Thereby realized obtaining based on the element image array fast optical of the supplied usefulness of camera array.It is important to point out; Following examples only are used for the present invention and further specify; Can not be interpreted as the restriction to protection range of the present invention, the improvement and the adjustment of some unsubstantialities that these those skilled in the art make the present invention according to the invention described above content still belong to protection scope of the present invention.
Embodiment 1:
Utilize camera array to obtain the method for the required element image array of integration imaging bore hole three-dimensional display, the parameter of camera array and element image array is following:
Camera focus in the camera array: 35 millimeters
Angle of visual field θ 1=θ 2=θ 3=θ 4: 30 degree
The resolution I of the element image that camera obtains x* I y: 640 * 480
Camera interval L in the camera array x: 100 millimeters
Camera interval L in the camera array y: 100 millimeters
Camera array is to three-dimensional body spacing L:300 millimeter
Element image array number M * N:10 * 10
Element image resolution P x* P y: 200 * 200
It is following to adopt the present invention to utilize camera array to obtain the step of integration imaging element image array:
The first step utilizes camera array to obtain element image
The element image that camera array gets access to is as shown in Figure 4.
Second step, utilize image recognition technology, the element image that camera array is obtained carries out the identification of corresponding image points.Obtain the set ∑ Q of corresponding image points, get that wherein a picture point of the same name is to do demonstration, the coordinate of corresponding image points Q is as follows:
Q I 1 : ( - 54 , - 54 ) Q I 2 : ( - 54,54 ) Q I 3 : ( 54 , - 54 ) Q I 4 : ( 54,54 )
According to the formula mentioned in the 3rd step:
Q ( i , j ) = x Q ( i , j ) = x Q 1 + ( i - 1 ) &times; ( x Q 3 - x Q 1 ) + ( x Q 4 - x Q 2 ) 2 &times; ( M - 1 ) y Q ( i , j ) = y Q 1 + ( j - 1 ) &times; ( y Q 2 - y Q 1 ) + ( y Q 4 - y Q 3 ) 2 &times; ( N - 1 ) With { Q ( i , j ) &Element; I ( i , j ) , Round ( | x Q ( i , j ) | ) < P x 2 Round ( | y Q ( i , j ) | ) < P y 2
Can calculate 10 * 10 element image array I (i, j)The coordinate that middle Q is ordered is (as shown in Figure 5) as follows:
(-54，54)?(-42，54)?(-30，54)?(-18，54)?(-6，54)?(6，54)?(18，54)?(30，54)?(42，54)?(54，54)
(-54，42)?(-42，42)?(-30，42)?(-18，42)?(-6，42)?(6，42)?(18，42)?(30，42)?(42，42)?(54，42)
(-54，30)?(-42，30)?(-30，30)?(-18，30)?(-6，30)?(6，30)?(18，30)?(30，30)?(42，30)?(54，30)
(-54，18)?(-42，18)?(-30，18)?(-18，18)?(-6，18)?(6，18)?(18，18)?(30，18)?(42，18)?(54，18)
(-54，6) (-42，6) (-30，6) (-18，6) (-6，6) (6，6) (18，6) (30，6) (42，6) (54，6)
(-54，-6)?(-42，-6)?(-30，-6)?(-18，-6)?(-6，-6)?(6，-6)?(18，-6)?(30，-6)?(42，-6)?(54，-6)
(-54，-18)(-42，-18)(-30，-18)(-18，-18)(-6，-18)(6，-18)(18，-18)(30，-18)(42，-18)(54，-18)
(-54，-30)(-42，-30)(-30，-30)(-18，-30)(-6，-30)(6，-30)(18，-30)(30，-30)(42，-30)(54，-30)
(-54，-42)(-42，-42)(-30，-42)(-18，-42)(-6，-42)(6，-42)(18，-42)(30，-42)(42，-42)(54，-42)
(-54，-54)(-42，-54)(-30，-54)(-18，-54)(-6，-54)(6，-54)(18，-54)(30，-54)(42，-54)(54，-54)
The all corresponding image points among the ∑ Q are calculated in pointwise, the required element image array of supplied integration imaging bore hole three-dimensional display that the element image array extension that can obtain being obtained by camera array is come, and the result is as shown in Figure 6.The 3-d reproduction result is as shown in Figure 7.

Claims (2)

1. element image array fast acquiring method based on camera array; It is characterized in that; Correlation in the element image array that obtains according to the integration imaging principle between element image through analyzing the information of corresponding image points in the element image that camera array obtains, calculates the element image array of M * N; The element image array can be used in three-dimensionalreconstruction, integration imaging bore hole three-dimensional display field, and the concrete steps of this method are:
The first, utilize the camera array of rectangular arranged to obtain the information of three-dimensional body:
Camera array is by four camera (C that are positioned at same vertical plane 1, C 2, C 3, C 4) form, arrangement mode is a rectangular arranged, level interval L x, vertical spacing L y, the angle of visual field (θ of camera array 1=θ 2=θ 3=θ 4) and camera spacing (L x, L y) and three-dimensional body need satisfy following condition to the spacing L on plane, camera array place: the information that gets access to three-dimensional body that each camera can both be complete in the camera array, promptly object should be placed in the camera array 4 cameras separately in the overlapping scope in visual field; Four cameras can obtain 4 element image I altogether 1, I 2, I 3, I 4, wherein the pixel count of each element image is: I x* I y, utilize image recognition technology to analyze the information that camera array writes down the corresponding image points of the element image that obtains then, get 1 Q in the corresponding image points, can be at 4 element image I 1, I 2, I 3, I 4In obtain the coordinate of 4 corresponding image points that Q orders, use Q respectively 1 (x, y), Q 2 (x, y), Q 3 (x, y), Q 4 (x, y)Represent that the information of all corresponding image points in 4 element images of point-to-point analysis can obtain the set of corresponding image points: ∑ Q,
Q k ( x , y ) = x Q k = x I k - I x / 2 y Q k = y I k - I y / 2
(x wherein Ik, y Ik) refer to the position of Q point on the element image that directly obtains from camera array, (x Qk, y Qk) be to be the relative coordinate under the coordinate system of initial point with the element image center that gets access to, k ∈ (1,4), I x, I yBe respectively the lateral resolution and the longitudinal frame of the element image that gets access to of camera array;
Second: the relevant parameter that obtains integration imaging element image array:
The element image array need be confirmed following parameter:
The number of element image array: M * N, by the lens arra parameter determining that the integration imaging playback system is adopted, wherein M is the number of X direction element image array, N is the number of y direction element image array;
The resolution of element image: P in the element image array x* P y, the parameter determining of the display device that is adopted by the integration imaging playback system, P xBe the lateral resolution of element image, P yIt is the longitudinal frame of element image;
Three, utilize 4 element image I 1, I 2, I 3, I 4Calculate element image arrays all in the element image array:
From the first step, can obtain the set of all corresponding corresponding image points of 4 element images: ∑ Q, getting wherein, 1 Q can obtain coordinate corresponding on 4 element images: Q 1 (x, y), Q 2 (x, y), Q 3 (x, y), Q 4 (x, y)The parameter of element image array to be generated: M * N element image and each element image are P x* P ySize; Then can obtain the Q point at the position of the corresponding image points of M * N element image, wherein (i, j) the information Q of the corresponding image points of individual element image (i, j)Can calculate by following formula:
Q ( i , j ) = x Q ( i , j ) = x Q 1 + ( i - 1 ) &times; ( x Q 3 - x Q 1 ) + ( x Q 4 - x Q 2 ) 2 &times; ( M - 1 ) y Q ( i , j ) = y Q 1 + ( j - 1 ) &times; ( y Q 2 - y Q 1 ) + ( y Q 4 - y Q 3 ) 2 &times; ( N - 1 )
(x wherein Q (i, j), y Q (i, j)), (x Q1, y Q1), (x Q2, y Q2), (x Q3, y Q3) and (x Q4, y Q4) be respectively the element image I that gets access to by camera array in the first step 1, I 2, I 3, I 4In the corresponding coordinate of corresponding image points Q, wherein i ∈ (1, M), j ∈ (1, N);
Whole corresponding image points intersection ∑ Q is carried out the pointwise computing can obtain I (i, j)The information of the corresponding image points of individual element image, and then Q to calculating (i, j)Differentiate, differentiate it and whether drop on I (i, j)In the visual field of individual element image, discrimination formula is as follows:
{ Q ( i , j ) &Element; I ( i , j ) , Round ( | x Q ( i , j ) | ) < P x 2 Round ( | y Q ( i , j ) | ) < P y 2
Wherein Round (x) expression is to round, and after differentiating, can obtain I (i, j)Element image, rebuild element image I one by one (i, j)Can obtain to supply the element image array of usefulness.
2. camera element image array deriving means of confirming according to the said method of claim 1 is characterized in that this device comprises:
Camera array: its purposes is to obtain the element image of three-dimensional body, and arrangement mode is 2 * 2 camera array of rectangular arranged, level interval L x, vertical spacing L y, the angle of visual field (θ of camera array 1=θ 2=θ 3=θ 4) and camera spacing (L x, L y) and three-dimensional body need satisfy following condition to the spacing L on plane, camera array place: the information that gets access to three-dimensional body that each camera can both be complete in the camera array, promptly object should be placed in the camera array 4 cameras separately in the overlapping scope in visual field; Electronic computer: the element image that is used for acquiring according to camera array calculates the generting element pattern matrix.
CN201110400206.XA 2011-12-06 2011-12-06 Method and device for rapidly acquiring elemental image array based on camera array Expired - Fee Related CN102523462B (en)

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